Ground touching judgment method, system and equipment for carrier rocket

Abstract

The invention relates to the technical field of spaceflight, and discloses a carrier rocket grounding judgment method, system and equipment, and the judgment method comprises the steps: after a landing buffer device on a carrier rocket is unfolded for a first preset time, a control system enters a grounding judgment program; carrying out validity judgment on travel switches at the bottoms of all landing buffer devices; if the travel switch is valid, entering a first judgment program: continuously obtaining a first detection signal of the travel switch, obtaining a first grounding judgment result according to the first detection signal, and controlling whether an engine of the carrier rocket is shut down or not by the control system according to the first grounding judgment result; and if the travel switch is invalid, entering a second judgment program: continuously obtaining the oil cylinder / air cylinder pressure of the landing buffer device to obtain a second detection signal, obtaining a second grounding judgment result according to the second detection signal, and controlling whether the engine of the carrier rocket is shut down or not according to the second grounding judgment result by the control system. The reliability of the judgment result is high, and the judgment precision and the response speed are good.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a method, system and device for determining whether a launch vehicle has touched the ground. Background Art

[0002] A launch vehicle refers to a vehicle that is manufactured to push a spacecraft into space. A launch vehicle is generally 2-4 stages and is used to send an artificial earth satellite, a manned spacecraft, a space station or an interplanetary probe into a predetermined orbit. With the advancement of science and technology, launch vehicles have entered a recyclable development stage, and the launch vehicle returns to the ground for recycling and reuse to reduce costs and save resources. During the landing process of a recyclable launch vehicle, the engine needs to provide reverse thrust to slow down. When approaching the ground, the landing buffer device on the arrow is deployed, and the oil cylinder / cylinder compression buffer on the landing buffer device is used to reduce the landing load. The engine is shut down while touching the ground. In this process, the shutdown time of the engine is relatively important and is related to whether the launch vehicle lands smoothly. In the prior art, most of them only measure the oil cylinder / cylinder pressure on the landing buffer device to make a touchdown judgment, and the judgment result is less reliable. Once the oil cylinder / cylinder pressure on the landing buffer device is abnormal, whether the abnormality is found or not will cause the launch vehicle to fail to land smoothly. Summary of the invention

[0003] Based on the above, the purpose of the present invention is to provide a method, system and equipment for determining the touchdown of a launch vehicle, which has high reliability of the determination result, and good determination accuracy and response speed.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A method for determining a launch vehicle touching the ground, comprising:

[0006] After the deployment of the landing cushion device on the launch vehicle reaches a first preset time, the control system enters a touchdown judgment procedure;

[0007] Determining the effectiveness of the travel switches at the bottom of all the landing buffer devices;

[0008] If the travel switch is valid, entering a first determination procedure: continuously acquiring a first detection signal of the travel switch, obtaining a first ground contact determination result according to the first detection signal, and controlling the engine of the carrier rocket to shut down or not according to the first ground contact determination result;

[0009] If the travel switch is invalid, enter the second determination procedure: continuously obtain the oil cylinder / air cylinder pressure of the landing cushion device to obtain a second detection signal, obtain a second touchdown determination result according to the second detection signal, and the control system controls whether to shut down the engine of the carrier rocket according to the second touchdown determination result.

[0010] As a preferred embodiment of a method for determining whether a launch vehicle has touched the ground, when the control system enters the touchdown determination procedure, it simultaneously records the duration after the landing cushion device has been deployed. If the recorded time is greater than a second preset time, the control system controls the engine to shut down, and the second preset time is greater than the first preset time.

[0011] As a preferred embodiment of a method for determining a launch vehicle touching the ground, the second preset time is 1.5-3 times the time from the deployment of the ballistically bound landing cushioning device to the landing.

[0012] As a preferred scheme of a method for determining touchdown of a launch vehicle, the first preset time is greater than or equal to the time required for the deployment of the landing cushion device, and is less than the time from the deployment of the landing cushion device to the landing as determined by the ballistic binding.

[0013] As a preferred solution of a method for determining whether a launch vehicle has touched the ground, when the control system enters the touchdown determination procedure, it simultaneously and continuously obtains the output data of the navigation device, the speed sensor, and the position sensor, and respectively calculates their corresponding celestial velocities; if at least two of the celestial velocities are greater than a preset value, the control system controls the engine to shut down.

[0014] As a preferred solution of a method for determining a launch vehicle touching the ground, determining the validity of a travel switch at the bottom of the landing buffer device includes:

[0015] The triggering status of the travel switches at the bottom of all the landing buffer devices is obtained. If all the travel switches are in an untriggered state, the first determination procedure is entered; if one or more of the travel switches are in a triggered state, the second determination procedure is entered.

[0016] As a preferred solution of a method for determining a launch vehicle touching the ground, continuously acquiring a first detection signal of the travel switch, and obtaining a first touchdown determination result according to the first detection signal includes:

[0017] The triggering state of each of the travel switches is continuously sampled at a first preset frequency. If, in the sampling results, X or more travel switches are in the triggering state for K consecutive times, the first touchdown determination result is that the launch vehicle has touched the ground, and the control system controls the engine to shut down.

[0018] As a preferred solution of a method for determining a touchdown of a launch vehicle, continuously acquiring the oil cylinder / air cylinder pressure of the landing buffer device to obtain a second detection signal, and obtaining a second touchdown determination result according to the second detection signal includes:

[0019] The oil cylinder / cylinder pressure of each landing cushion device is continuously sampled at a second preset frequency. If there are Y or more oil cylinder / cylinder pressures of the landing cushion devices that are greater than a bound pressure threshold for Q consecutive times, the second touchdown determination result is that the launch vehicle has touched the ground, and the control system controls the engine to shut down.

[0020] A launch vehicle touchdown determination system is applied to the launch vehicle touchdown determination method described in any of the above technical solutions, and the determination system comprises:

[0021] A data processing module, used for acquiring and recording the first detection signal and the second detection signal;

[0022] A ground contact determination processing module is used to obtain the first ground contact determination result according to the first detection signal and to obtain the second ground contact determination result according to the second detection signal, and to control whether to shut down the engine according to the first ground contact determination result or the second ground contact determination result.

[0023] A device for executing a method for determining a launch vehicle touching the ground, comprising:

[0024] Memory for storing computer programs;

[0025] A processor is used to execute the computer program to implement the launch vehicle touchdown determination method as described in any of the above technical solutions.

[0026] The beneficial effects of the present invention are:

[0027] The present invention provides a method for determining whether a launch vehicle has touched down. The method has high determination accuracy, is simple and reliable, and has low structural cost. The pressure of the oil cylinder / air cylinder of a landing buffer device is used as a backup determination basis to improve the probability of a smooth touchdown determination. At the same time, when the touchdown determination is made by determining whether the travel switch is triggered, the validity of the travel switch is first determined, which can effectively avoid the situation where the determination error is caused by structural damage or line damage, thereby ensuring the reliability of the determination result. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0029] Figure 1 The process of the method for determining the touchdown of a launch vehicle provided by an embodiment of the present invention is as follows Figure 1 ;

[0030] Figure 2 The process of the method for determining the touchdown of a launch vehicle provided by an embodiment of the present invention is as follows Figure 2 . DETAILED DESCRIPTION

[0031] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0032] In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "plurality" means two or more.

[0033] The term "at least one" in this application means one or more, and the term "multiple" in this application means two or more, for example, multiple second messages means two or more second messages. The terms "system" and "network" are often used interchangeably herein.

[0034] It should be understood that the terms used in the description of the various examples herein are only for describing specific examples and are not intended to be limiting. As used in the description of the various examples and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0035] It should also be understood that the term "and / or" used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. The term "and / or" is a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0036] It should also be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0037] It should be understood that determining B based on A does not mean determining B only based on A. B can also be determined based on A and / or other information.

[0038] It should also be understood that the term “comprise” (also known as “includes,” “including,” “comprises” and / or “comprising”) when used in this specification specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0039] It should also be understood that the term "if" may be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting." Similarly, the phrase "if it is determined that ..." or "if [a stated condition or event] is detected" may be interpreted to mean "upon determining that ..." or "in response to determining that ..." or "upon detecting [a stated condition or event]" or "in response to detecting [a stated condition or event]," depending on the context.

[0040] It should be understood that the references to "one embodiment", "an embodiment", or "a possible implementation" throughout the specification mean that specific features, structures, or characteristics related to the embodiment or implementation are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment", or "a possible implementation" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0041] like Figure 1 and Figure 2 As shown, this embodiment provides a method for determining a launch vehicle touchdown, and the method for determining a launch vehicle touchdown comprises the following steps:

[0042] S1: After the deployment of the landing cushion device on the launch vehicle reaches a first preset time, the control system enters a touchdown judgment program; wherein the deployment of the landing cushion device on the launch vehicle refers to receiving a deployment command sent by the central control system of the launch vehicle.

[0043] When the launch vehicle enters the touchdown phase, the central control system of the launch vehicle sends a landing buffer deployment command, and the landing buffer begins to deploy. It takes a certain amount of time for the landing buffer to fully deploy from receiving the command. The landing buffer is, for example, a landing buffer bracket, which is a relatively mature prior art and will not be described in detail here.

[0044] In this embodiment, the first preset time is greater than the time required for the landing cushioning device to be deployed, and is less than the time from the deployment of the landing cushioning device to the landing of the ballistic binding, that is, the touchdown judgment begins after the landing cushioning device is fully deployed.

[0045] S2: Determine the validity of the travel switches at the bottom of all landing buffer devices;

[0046] Among them, after the landing cushion device is fully deployed, as the carrier rocket lands, the travel switch located at its bottom touches the ground first, and the reaction sensitivity is relatively high. That is, whether the carrier rocket touches the ground can be known by whether the travel switch is triggered, and the judgment accuracy is relatively high, which also makes the judgment response speed faster.

[0047] In this embodiment, a travel switch is provided at the bottom of each landing buffer device to ensure the accuracy and reliability of ground contact judgment and reduce the error rate, wherein, for example, the landing buffer device is a landing buffer leg.

[0048] It should be noted that when using the triggering of the travel switch to determine whether the vehicle has touched the ground, it is necessary to first determine the effectiveness of the travel switch to avoid erroneous determinations due to structural damage or line damage, thereby ensuring the reliability of the determination results.

[0049] Specifically, the validity determination of the travel switch includes:

[0050] S21: Obtain the triggering status of the travel switches at the bottom of all landing buffer devices. If all the travel switches are in the untriggered state, enter the first determination procedure. If one or more of the travel switches are in the triggered state, enter the second determination procedure. That is, when starting to make a touchdown determination, obtain the triggering status of all the travel switches. Since the launch vehicle has not landed yet, all the travel switches should be in the untriggered state under normal conditions. If one or more of the travel switches are in the triggered state, it means that the travel switch is invalid and the travel switch cannot be used to make a touchdown determination. Enter the second determination procedure. The determination method of the second determination procedure is described later. If all the travel switches are in the untriggered state, it means that there is no abnormality in the travel switch and the travel switch can be used to make a touchdown determination, that is, enter the first determination procedure.

[0051] S3: If the travel switch is valid, enter the first determination procedure: continuously obtain the first detection signal of the travel switch, obtain the first ground contact determination result according to the first detection signal, and the control system controls whether to shut down the engine of the carrier rocket according to the first ground contact determination result;

[0052] Among them, the triggering state of the travel switch is collected by the collection device, that is, the first detection signal is obtained, and the control system obtains the first touchdown judgment result based on the collected signal analysis, and then controls whether the engine of the carrier rocket is shut down or not according to the first touchdown judgment result.

[0053] Specifically, continuously acquiring a first detection signal of the travel switch, and obtaining a first ground contact determination result according to the first detection signal includes:

[0054] S31: Continuously sampling the triggering state of each travel switch at a first preset frequency. If there are X or more travel switches in the triggering state for K consecutive times in the sampling results, the first touchdown determination result is that the launch vehicle has touched the ground, and the control system controls the engine to shut down.

[0055] The first preset frequency can be selected as 100-1000Hz, for example, the sampling frequency is 100Hz, 400Hz, 600Hz, 800Hz, 1000Hz, etc., which is set according to actual needs, that is, the triggering state of all travel switches is acquired 100-1000 times per second. In the sampling results, for example, if there are X or more travel switches in the triggering state for 3-5 consecutive times, it means that the launch vehicle touches the ground and the control system controls the engine to shut down. Among them, X is related to the number N of landing cushion legs, which is generally greater than or equal to 2 and less than N / 2.

[0056] S4: If the travel switch is invalid, enter the second determination procedure: continuously obtain the oil cylinder / air cylinder pressure of the landing cushion device to obtain a second detection signal, obtain a second touchdown determination result according to the second detection signal, and the control system controls whether the engine of the carrier rocket is shut down according to the second touchdown determination result.

[0057] After the travel switch fails, the landing cushion device's oil cylinder / air cylinder pressure is used to determine whether the launch vehicle has touched the ground. When the carrier rocket touches the ground, the landing cushion device touches the ground first. At this time, the landing cushion device is compressed and its oil cylinder / air cylinder pressure increases. Based on this, it can be determined whether the carrier rocket has touched the ground. The judgment result is accurate and reliable, and there is no need to add other additional equipment, which is conducive to cost saving.

[0058] Specifically, continuously acquiring the oil cylinder / air cylinder pressure of the landing cushioning device to obtain a second detection signal, and obtaining the second touchdown determination result according to the second detection signal includes:

[0059] S41: The oil cylinder / cylinder pressure of each landing cushion device is continuously sampled at a second preset frequency, i.e., a second detection signal is obtained. If the oil cylinder / cylinder pressure of Y or more landing cushion devices is greater than the bound pressure threshold for Q consecutive times, the second touchdown judgment result is that the launch vehicle has touched the ground, and the control system controls the engine to shut down.

[0060] The oil cylinder / cylinder pressure of each landing buffer device is continuously sampled by using a collection device. For example, the second preset frequency is 100-1000Hz, such as 100Hz, 400Hz, 600Hz, 800Hz, 1000Hz, etc., which is set according to actual needs, that is, the oil cylinder / cylinder pressure of all landing buffer devices is acquired 100-1000 times per second. For example, if the oil cylinder / cylinder pressure of Y or more landing buffer devices is detected to be greater than the set pressure threshold for 10 consecutive times, it means that the launch vehicle touches the ground, and the control system controls the engine to shut down. Among them, Y is related to the number of landing buffer devices N, which is generally greater than or equal to 2 and less than N / 2.

[0061] Preferably, before entering the second determination procedure, it is necessary to first determine the effectiveness of the oil cylinder / air cylinder pressure of the landing cushion device to ensure that the oil cylinder / air cylinder pressure of the landing cushion device is effective, thereby ensuring the effectiveness of the touchdown determination result.

[0062] Specifically, determining the effectiveness of the oil cylinder / air cylinder pressure of the landing cushioning device includes:

[0063] After the travel switch validity is determined to be invalid, the average values ​​of the first 10 sampling values ​​of the oil cylinder / air cylinder pressure of all landing buffer devices are obtained respectively, and each average value is compared with the bound landing buffer device oil cylinder / air cylinder no-load normal pressure band. If one or more average values ​​are out of range, the landing buffer device oil cylinder / air cylinder pressure failure result is output; if all average values ​​are within the bound landing buffer device oil cylinder / air cylinder no-load normal pressure band, it indicates that the landing buffer device oil cylinder / air cylinder pressure is valid, and the second determination procedure is entered.

[0064] Furthermore, when the control system enters the touchdown judgment procedure, it simultaneously records the duration of the landing cushion device after deployment. If the recorded time is greater than the second preset time, the control system controls the engine to shut down, and the second preset time is greater than the first preset time. That is, when the touchdown judgment is performed, the judgment time starts to be recorded synchronously. If the judgment time exceeds the second preset time, when the touchdown judgment is performed based on the travel switch or the oil cylinder / air cylinder pressure of the landing cushion device and the judgment result has not been output, the control system directly controls the engine to shut down, so as to avoid the engine continuing to work when problems occur in the first judgment procedure and the second judgment procedure, resulting in the launch vehicle being unable to land.

[0065] The second preset time is 1.5-3 times the time from the ballistic binding landing cushion device to the landing. It is ensured that the touchdown determination can be performed according to the first determination procedure or the second determination procedure within a sufficient time, and at the same time, it is ensured that the carrier rocket can finally land when an abnormality occurs in the first determination procedure or the second determination procedure.

[0066] Furthermore, when the control system enters the touchdown judgment program, it continuously obtains the output data of the navigation device, speed sensor, and position sensor at the same time, and calculates the corresponding celestial speeds respectively. If at least two of the celestial speeds are greater than the preset value, the control system controls the engine to shut down. When the celestial speed is upward, it means that the launch vehicle has a minimum thrust greater than its own gravity. At this time, the engine is shut down regardless of whether it touches the ground to prevent the launch vehicle from flying uncontrollably. By increasing the judgment of the celestial speed, it is beneficial to improve the landing safety and reliability of the launch vehicle and avoid the situation where the launch vehicle is damaged due to uncontrolled flight during the landing process. It should be noted that the calculation of the celestial speed based on the output data of the navigation device, the calculation of the celestial speed based on the output data of the speed sensor, and the calculation of the celestial speed based on the output data of the position sensor are all relatively mature existing technologies, which will not be elaborated here.

[0067] In this embodiment, when entering the touchdown judgment procedure, sampling and judgment are performed respectively according to the celestial velocity solved by the navigation device, the celestial velocity solved by the velocity sensor, and the celestial velocity solved by the position sensor. For example, the sampling frequency is 100-1000Hz, such as 100Hz, 400Hz, 600Hz, 800Hz, 1000Hz, etc., which is specifically set according to actual needs. If two of the celestial velocities output by the navigation device, the celestial velocity output by the velocity sensor, and the celestial velocity output by the position sensor are greater than V1 for 10 consecutive times, the control system controls the engine to shut down. Among them, V1 is related to the accuracy of the guidance device. The celestial velocity of the carrier rocket during landing should be less than or equal to 0. Considering the error of the navigation device, V1 needs to be greater than 0. The specific value matches the accuracy of the navigation device.

[0068] The method for determining touchdown of a carrier rocket provided in this embodiment determines touchdown according to the triggering state of the travel switch, has high determination accuracy, is simple and reliable, and has low structural cost. The oil cylinder / air cylinder pressure of the landing buffer device is used as a backup determination basis to increase the probability of a smooth touchdown determination. The determination time and the celestial speed are used as auxiliary determination bases to ensure that the carrier rocket can land safely.

[0069] This embodiment also provides a carrier rocket touchdown determination system, which is applied to the above-mentioned carrier rocket touchdown determination method, and the determination system includes a data processing module and a touchdown determination processing module, the data processing module is used to obtain and record the first detection signal and the second detection signal; the touchdown determination processing module is used to obtain a first touchdown determination result according to the first detection signal and a second touchdown determination result according to the second detection signal, and is used to control whether the engine is shut down according to the first touchdown determination result or the second touchdown determination result. That is, the above-mentioned carrier rocket touchdown determination method is implemented through the determination system, specifically, the touchdown determination is performed according to the triggering state of the travel switch or according to the oil cylinder / cylinder pressure of the landing buffer device, and at the same time, the determination time and the celestial speed are used as insurance determination conditions to ensure the smooth landing of the carrier rocket.

[0070] This embodiment also provides a device for executing the launch vehicle touchdown determination method. The device for executing the launch vehicle touchdown determination method includes a memory and a processor. The memory is used to store computer programs; the processor is used to execute the computer program to implement the above-mentioned launch vehicle touchdown determination method.

[0071] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining whether a launch vehicle has touched the ground, characterized in that: include: After the deployment of the landing cushion device on the launch vehicle reaches a first preset time, the control system enters a touchdown judgment procedure; Determining the effectiveness of the travel switches at the bottom of all the landing buffer devices; If the travel switch is valid, entering a first determination procedure: continuously acquiring a first detection signal of the travel switch, obtaining a first ground contact determination result according to the first detection signal, and controlling the engine of the carrier rocket to shut down or not according to the first ground contact determination result; If the travel switch is invalid, enter the second determination procedure: continuously obtain the oil cylinder / air cylinder pressure of the landing cushion device to obtain a second detection signal, obtain a second touchdown determination result according to the second detection signal, and the control system controls whether to shut down the engine of the carrier rocket according to the second touchdown determination result.

2. The method for determining launch vehicle touchdown according to claim 1, characterized in that: When the control system enters the touchdown judgment program, the duration of the landing cushion device after deployment is recorded at the same time. If the recorded time is greater than a second preset time, the control system controls the engine to shut down, and the second preset time is greater than the first preset time.

3. The method for determining launch vehicle touchdown according to claim 2, characterized in that: The second preset time is 1.5-3 times the time from the ballistic binding landing buffer device to the deployment to the landing.

4. The method for determining launch vehicle touchdown according to claim 2, characterized in that: The first preset time is greater than or equal to the time required for the landing cushioning device to be deployed, and is less than the time from the time when the landing cushioning device is deployed to the time when the ballistic binding is issued.

5. The method for determining launch vehicle touchdown according to claim 1, characterized in that: When the control system enters the ground contact judgment program, it continuously obtains the output data of the navigation device, the speed sensor, and the position sensor, and calculates the corresponding celestial speeds respectively. If at least two of the celestial speeds are greater than a preset value, the control system controls the engine to shut down.

6. The method for determining the touchdown of a launch vehicle according to claim 1, characterized in that: The effectiveness determination of the travel switch at the bottom of the landing buffer device includes: The triggering status of the travel switches at the bottom of all the landing buffer devices is obtained. If all the travel switches are in an untriggered state, the first determination procedure is entered; if one or more of the travel switches are in a triggered state, the second determination procedure is entered.

7. The method for determining launch vehicle touchdown according to claim 1, characterized in that: Continuously acquiring a first detection signal of the travel switch, and obtaining a first ground contact determination result according to the first detection signal comprises: The triggering state of each of the travel switches is continuously sampled at a first preset frequency. If, in the sampling results, X or more travel switches are in the triggering state for K consecutive times, the first touchdown determination result is that the launch vehicle has touched the ground, and the control system controls the engine to shut down.

8. The method for determining launch vehicle touchdown according to claim 1, characterized in that: Continuously acquiring the oil cylinder / air cylinder pressure of the landing buffer device to obtain a second detection signal, and obtaining a second touchdown determination result according to the second detection signal includes: The oil cylinder / cylinder pressure of each landing cushion device is continuously sampled at a second preset frequency. If there are Y or more oil cylinder / cylinder pressures of the landing cushion devices that are greater than a bound pressure threshold for Q consecutive times, the second touchdown determination result is that the launch vehicle has touched the ground, and the control system controls the engine to shut down.

9. A launch vehicle touchdown determination system, applied to the launch vehicle touchdown determination method according to any one of claims 1 to 8, characterized in that: The determination system comprises: A data processing module, used for acquiring and recording the first detection signal and the second detection signal; A ground contact determination processing module is used to obtain the first ground contact determination result according to the first detection signal and to obtain the second ground contact determination result according to the second detection signal, and to control whether to shut down the engine according to the first ground contact determination result or the second ground contact determination result.

10. A device for executing a launch vehicle touchdown determination method, characterized in that: include: Memory for storing computer programs; A processor, used to execute the computer program to implement the launch vehicle touchdown determination method as described in any one of claims 1-8.

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